Refactor islands to be memory contiguous.
PiperOrigin-RevId: 755803476 Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
449de73430
commit
ecb769fc3a
@@ -4896,6 +4896,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='int'),
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doc='number of detected constraint islands',
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),
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StructFieldDecl(
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name='nidof',
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type=ValueType(name='int'),
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doc='number of dofs in all islands',
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),
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StructFieldDecl(
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name='time',
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type=ValueType(name='mjtNum'),
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@@ -5940,11 +5945,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='island_dofnum',
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name='island_nv',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of dofs in island',
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doc='number of dofs in this island',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_idofadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='island start address in idof vector',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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@@ -5952,25 +5965,105 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='start address in island_dofind',
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doc='island start address in dof vector',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_dofind',
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name='map_dof2idof',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='island dof indices; -1: none',
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doc='map from dof to idof',
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='dof_islandind',
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name='map_idof2dof',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='dof island indices; -1: none',
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doc='map from idof to dof; idof >= ni: unconstrained',
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array_extent=('nv',),
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),
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StructFieldDecl(
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name='ifrc_smooth',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='net unconstrained force',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iacc_smooth',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='unconstrained acceleration',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iM_rownnz',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='inertia: non-zeros in each row',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iM_rowadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='inertia: address of each row in iM_colind',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iM_diagnum',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='inertia: num of consecutive diagonal elements',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iM_colind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='inertia: column indices of non-zeros',
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array_extent=('nM',),
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),
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StructFieldDecl(
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name='iM',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='total inertia (sparse)',
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array_extent=('nM',),
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),
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StructFieldDecl(
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name='iLD',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc="L'*D*L factorization of M (sparse)",
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array_extent=('nM',),
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),
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StructFieldDecl(
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name='iLDiagInv',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='1/diag(D)',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iacc',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='acceleration',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='efc_island',
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type=PointerType(
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@@ -5980,7 +6073,23 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='island_efcnum',
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name='island_ne',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of equality constraints in island',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_nf',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of friction constraints in island',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_nefc',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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@@ -5988,19 +6097,147 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_efcadr',
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name='island_iefcadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='start address in island_efcind',
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doc='start address in iefc vector',
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array_extent=('nisland',),
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),
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StructFieldDecl(
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name='island_efcind',
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name='map_efc2iefc',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='island constraint indices',
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doc='map from efc to iefc',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='map_iefc2efc',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='map from iefc to efc',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_type',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='constraint type (mjtConstraint)',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_id',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='id of object of specified type',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_J_rownnz',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of non-zeros in constraint Jacobian row',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_J_rowadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='row start address in colind array',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_J_rowsuper',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of subsequent rows in supernode',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_J_colind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='column indices in constraint Jacobian',
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array_extent=('nJ',),
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),
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StructFieldDecl(
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name='iefc_JT_rownnz',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of non-zeros in constraint Jacobian row T',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iefc_JT_rowadr',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='row start address in colind array T',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iefc_JT_rowsuper',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='number of subsequent rows in supernode T',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='iefc_JT_colind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='column indices in constraint Jacobian T',
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array_extent=('nJ',),
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),
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StructFieldDecl(
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name='iefc_J',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='constraint Jacobian',
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array_extent=('nJ',),
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),
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StructFieldDecl(
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name='iefc_JT',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='constraint Jacobian transposed',
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array_extent=('nJ',),
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),
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StructFieldDecl(
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name='iefc_frictionloss',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='frictionloss (friction)',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_D',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='constraint mass',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_R',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='inverse constraint mass',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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@@ -6060,7 +6297,23 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='efc_force',
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name='iefc_aref',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='reference pseudo-acceleration',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_state',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='constraint state (mjtConstraintState)',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='iefc_force',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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@@ -6075,6 +6328,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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doc='constraint state (mjtConstraintState)',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='efc_force',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='constraint force in constraint space',
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array_extent=('nefc',),
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),
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StructFieldDecl(
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name='ifrc_constraint',
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type=PointerType(
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inner_type=ValueType(name='mjtNum'),
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),
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doc='constraint force',
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array_extent=('nidof',),
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),
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StructFieldDecl(
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name='threadpool',
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type=ValueType(name='uintptr_t'),
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@@ -8642,13 +8911,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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),
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doc='',
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),
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StructFieldDecl(
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name='island_dofind',
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type=PointerType(
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inner_type=ValueType(name='int'),
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),
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doc='',
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),
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StructFieldDecl(
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name='dof_island',
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type=PointerType(
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